design, modeling, and optimization of power electronics ... · optimization goal: maximum...

Design, Modeling, and Optimization of Power Electronics SystemsVirtual Prototyping

Andrija Stupar, Andreas Müsing

Hilton Hotel, Nürnberg, 27.10.2011.

• State of “Virtual Prototyping” today: Problems

• Solution: PE Design Suite with GeckoCIRCUITS as the core

• Comparison via design example:

- Analytical approach to converter design and optimization

- Simulation approach and its advantages

• Modeling Different Design Domains: Electrical, Magnetic, Thermal: Modeling Everything as a Circuit?

• Coupling Domains: Model Reduction and Simplification

Outline

Motivation

• Power Electronics Engineer must consider many factors when making design decisions:

- System performance & Efficiency

- Power Density (Volume, size) & Weight

- Cost, Reliability, etc.

• Must deal with Thermal & Electromagnetic issues

• Many choices to make:

- Topology?

- Control/modulation scheme?

- Components?

Need Virtual Prototyping: evaluate on a computer, relatively quickly, a large number of design possibilities, and gain insight into relationships between the different aspects of the design problem.

State of “Virtual Prototyping” Today

• Generally speaking, the theory to do virtual prototyping already exists

• It seems that we have software tools for almost all necessary domains:

- Very detailed and precise circuit simulators (e.g. SPICE, etc.)- Very powerful electromagnetic simulators (e.g. Maxwell)- 3D-FEM simulators for thermal design (e.g. Icepak, COMSOL)

• We have a large body of knowledge on the behaviour of power electronics (PE) and the necessary sub-components

• So what is the problem?• Tedious: it takes very long to set up all relevant models• Tools not made specifically for PE: large skill set needed• Detailed simulation slow; not easy to transfer relevant data• Result: Engineer concludes not worth the effort, does limited

simulation and calculations, relies on past designs, experience and actual prototyping

• Solution: Create a software package that has relevant models and simulators, is fast, and “fits well” with the knowledge of PE engineers

Optimization Example: Analytical Approach

Optimization goal: Maximum Efficiency (99%)

Phase-shift PWM DC-DC Converter for Telecom Power Supplies (5 kW)Papers: Badstuebner, Biela, and Kolar, APEC 2010 and IPEC 2010

Derive steady-stateOperating point

- Formulae for RMS, average currents, voltages

- FFT for AC losses(check by simulation)

Set up loss models

Optimization procedure

Java program/Maple script

Built prototype:

Calc. eff.: 98.9%Meas. eff: 98.5%

Optimal design

Optimization Example: Analytical Approach

• How long does this take, start to finish? (not incl. prototype construction)

- Derive and setup all models: 2-4 months

- Execute optimization procedure: 1-2 weeks

• Great deal of effort required

• Want to try different topology?

• Change operating mode?

• Change control/modulation scheme?

• Error in deriving analytical models?

• Change of components, geometries?

• The need for a better, more general approach is clear

Start again, from beginning

Start again

Start again

Start again

New loss models needed

Optimization by Simulation: Requirements

• Replace as much as possible analytical work by numerical simulation:

Build model in PE-engineer-friendly software environment

Do minimum amount of simulation necessary

Extract automatically from simulation results all required parameters for system evaluation

Coupling of Physical Domains

Is this a realistic approach for a PE Design?

Multi-Domain Simulation in Power Electronics

Thermal Solver (FDM)

CircuitSimulator

• PE Engineer challenged with different domains

• Circuit Simulator should be „central part“ of design toolbox

• Direct tool interconnection not realistic

Consider different abstraction levels (model order reduction)

Circuit interpretationpossible?

• Power Circuit

• Electromagnetics

• Thermal

• Magnetics

HF Magnetics(Losses)

EM Solver (Parasitics, EMI)

Cooling System (Heatsink)

PE Circuit Simulator: GeckoCIRCUITS

• Model of converter for simulation

Circuit model

Control modelPI control

Java block simulates any control/modulation scheme

Calculate loss of semiconductors Thermal RC circuit model

of semiconductor + heat sink

Send temperature waveforms to scope

Setting Model Parameters in GeckoCIRCUITS• For virtual prototyping and optimization, must be able to simulate, change

system parameters, simulate again, change parameters, simulate…

Shouldn’t do this manually every time

GeckoSCRIPT: model manipulation and simulation control scripting environment within GeckoCIRCUITS

Functions to set all model parameters, control simulation, simulate step-by-step, or by time interval

Full Java API available, can utilise full power of Java programming language

Tutorial for GeckoSCRIPT available on GeckoCIRCUITS CD

Extract relevant information from simulation

• Need: RMS, avg, min/max values of currents, voltages, FFT of signals…Available via scope

Automate via GeckoSCRIPT

RMS, etc. values

Fourier series coefficients

GeckoCIRCUITS: Steady-State Detection

• Usually interested what happens during steady-state operation

• GeckoSCRIPT provides functions for periodic steady-state operation: simulate until steady-state and stop, then extract parameters

Stops when steady-state reached

All analytical analysis of power converter circuit has been replaced by simulation!

Currently (v.1.5) works for PWM DC-DC systems- Development ongoing to cover other types of systems

Loss Modeling: Semiconductors

• Rather than simulate semiconductors in great detail to extract all losses from parasitics, etc. (too slow), have functionally correct model for PE circuits for fast simulation

• Use electrical simulation results to calculate losses based on loss models - > data entered from data sheet curves or experimental measurements

Transfer characteristic (conduction losses)

Turn-on and turn-off energies(switching losses)

“Real-time” loss and temperature curves produced by simulation

Loss Modeling: Passives

• Current GeckoCIRCUITS version (1.5): still must work-out and enter loss models for inductors, transformers, capacitors “by hand” (standard models available in literature for most common arrangements)

Enter loss model formulae for passive components here:

Code optimization loop here

“Plug-in” extracted data (RMS, avg., FFT)

Comparison: Analytic vs. Simulation

• Optimum system, switching frequency 16 kHz

Efficiency:- Analytical calculations: 98.9%- Derived from simulation: 98.8%

Comparison: Analytic vs. Simulation

• Possible converter design, switching frequency 50 kHz

Efficiency:- Analytical calculations: 98.7%- Derived from simulation: 98.6%

Comparison: Analytic vs. Simulation

Analytical Simulation

Calculate one operating point: ~1 s Calculate one operating point: 8 s (slower)- to be much improved in the future!

Set-up model: month(s) Set-up model: days – 2 weeks (much faster)

Model adaptability: low to none, difficult Model adaptability: high and simple

Results: match well

Non-linearities: difficult (e.g. Coss) Non-linearities: easy

• Variable / adaptive simulation step-width √

• Fast direct steady state calculation √

• Reluctance models for transformers / magnetic circuits √

• Magnetics losses calculation √

• More detailed switch models (MOSFETS, bipolar transistors, …)

• Built-in optimization algorithms

• Connection of GeckoCIRCUITS to 3D field solvers:- GeckoEMC: calculation of layout parasitics √- GeckoHEAT: 3D finite element thermal simulation √

Future Development of GeckoCIRCUITS (Version 2.0)

Further increasescalculation speed Optimization!

Version 2.0 Release: June 2012

Thermal Modeling & Simulation: GeckoHEAT

• Easy-to-use, very fast

• Various boundary-conditions - Power loss density- Convection boundary- Fixed temperature

• Automatic extraction ofthermal impedance network

• Standard approach to thermal simulation: 3D-FEM simulation when necessary: slow and cumbersome

• GeckoHEAT: Finite-difference method (FDM) based approach to thermal modeling and simulation: thermal RC (impedance) circuits

• Computation time reduction compared to 3D-FEM: hours minutes, minutes seconds

• Conduction problems only: convection too complex

Inductor Modeling: Reluctance model

Electric Network Magnetic Network

Conductivity

Resistance

Voltage

Current / Flux

/R l A

m /R l A2

1

dP

P

V E s 2

1

m dP

P

V H s

dA

I J A

dA

B A

E-Core Reluctance model

Inductor Loss Modeling

• Winding losses: analytic formulae well known and reasonably accurate

• Problem: Core losses: Improved generalized Steinmetz eqn.:

- DC bias not considered!

- Relaxation effect not considered

- Steinmetz parameters are valid only in a limited flux density and frequency range

v0

1 d dd

T

iBP k B t

T t

Core Loss Modeling including DC Bias• Further improved generalized Steinmetz Equation:

n

lll

T

i PQtBtBk

TP

1rr

0v d

dd1

• Must measure core losses to parameterize the equation!• Need database of core material measurements in simulation tool

Loss measurements “Loss map” database

Simulated flux waveform

r r r, , , , , , ,ik k q Equation parameters

Accurate core loss calculation

• Experimentally verifiedpapers: J. Muehlethaler, J. W. Kolar, et al., ICPE 2011, APEC 2011, IPEC 2010

Simulated by reluctance model

GeckoMAGNETICS: 3D Tool for Inductor Loss CalculationsCurrently in DevelopmentInputs:

• Core Dimensions

• Winding properties (roundconductor, Litz Wire, FoilConductors & arragement)

• Material Database (B-H curve,Steinmetz paramters, loss map)

• Current/Flux waveforms (e.g. from GeckoCIRCUITS, FFT)

• Inductor thermal model

Output:

• Total losses & loss distribution

• Inductances

• Field distribution

Electromagnetic Modeling: GeckoEMC• 3D electromagnetic modeling and simulation

- Parasitics in modules, components

- Layout parasitics

- EMI filters

• Can be done with 3D FEM/FDM usually very slow

• Solution: Partial Element Equivalent Circuit Method (PEEC)

Model EM properties as a circuit, utilize fast circuit solver

Electromagnetic Modeling: GeckoEMC• Module modeling:

Maxwell 3D: 1 h 20 min

GeckoEMC: 30 sec

• EMI Filter modeling:- Coupling effects considering geometric arrangement

PFC input filter stage Measurements match simulation

papers: I. Kovacevic, A. Muesing, J. W. Kolar, et al., CEFC 2010, IPEC 2010, COMPUMAG 2011

Currently works only with toroidal inductors

Coupling GeckoCIRCUITS and GeckoEMC

• EMI analyzed in GeckoCIRCUITS(Test Receiver block)

Thermal Solver (FDM)

CircuitSimulator

HF Magnetics(Losses)

EM Solver (Parasitics, EMI)

Cooling System (Heatsink)

• Waveform can be fed into GeckoEMC

Combining Simulation Domains – MOR

Motivation: Finally, we want to include thermal models and electromagnetic models (parasitics) into a circuit simulation

• Typical: Thermal or EM solver contains > 10000 cells

• Circuit simulation: dt = 100 nsec, T = 1 sec

This is impossible to solve together

• Our future solution approach: Model Order Reduction (MORe)

MORe: Construct a simplified system to approximate the original system with reasonable accuracy.

Thermal Solver (FDM)

CircuitSimulator

HF Magnetics(Losses)

EM Solver (Parasitics, EMI)

Cooling System (Heatsink)

Gecko-Research Software Overview